Refactor driver library to follow patterns from PickNikRobotics/ros2_…

…epick_gripper (#34)

.clang-format

@@ -1,20 +1,74 @@
 ---
-Language: Cpp
 BasedOnStyle: Google
+ColumnLimit: 120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
 
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
 AccessModifierOffset: -2
-AlignAfterOpenBracket: AlwaysBreak
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
 BraceWrapping:
+  AfterCaseLabel: true
   AfterClass: true
+  AfterControlStatement: true
+  AfterEnum: true
   AfterFunction: true
   AfterNamespace: true
   AfterStruct: true
-  AfterEnum: true
-BreakBeforeBraces: Custom
-ColumnLimit: 100
-ConstructorInitializerIndentWidth: 0
-ContinuationIndentWidth: 2
-DerivePointerAlignment: false
-PointerAlignment: Middle
-ReflowComments: false
-...
+  AfterUnion: true
+  BeforeCatch: true
+  BeforeElse: true
+  IndentBraces: false

.github/workflows/ci-format.yml

@@ -13,14 +13,14 @@ on:
 jobs:
   pre-commit:
     name: Format
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/[email protected]
-      with:
-        python-version: '3.10'
-    - name: Install system hooks
-      run: sudo apt install -qq clang-format-14 cppcheck
-    - uses: pre-commit/[email protected]
-      with:
-        extra_args: --all-files --hook-stage manual
+      - uses: actions/checkout@v3
+      - uses: actions/[email protected]
+        with:
+          python-version: "3.10"
+      - name: Install system hooks
+        run: sudo apt install -qq clang-format-14 cppcheck
+      - uses: pre-commit/[email protected]
+        with:
+          extra_args: --all-files --hook-stage manual

.github/workflows/ci-ros-lint.yml

@@ -5,41 +5,37 @@ on:
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
-          linter: [cppcheck, copyright, lint_cmake]
+        linter: [copyright, lint_cmake]
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/[email protected]
-    - uses: ros-tooling/[email protected]
-      with:
-        distribution: rolling
-        linter: ${{ matrix.linter }}
-        package-name:
-          robotiq_driver
-          robotiq_controllers
-          robotiq_description
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+      - uses: ros-tooling/[email protected]
+        with:
+          distribution: rolling
+          linter: ${{ matrix.linter }}
+          package-name: robotiq_driver
+            robotiq_controllers
+            robotiq_description
 
-
-  ament_lint_100:
+  ament_lint_121:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
-          linter: [cpplint]
+        linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/[email protected]
-    - uses: ros-tooling/[email protected]
-      with:
-        distribution: rolling
-        linter: cpplint
-        arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          robotiq_driver
-          robotiq_controllers
-          robotiq_description
-          ros2_robotiq_gripper
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+      - uses: ros-tooling/[email protected]
+        with:
+          distribution: rolling
+          linter: cpplint
+          arguments: "--linelength=121 --filter=-whitespace/newline"
+          package-name: robotiq_driver
+            robotiq_controllers
+            robotiq_description

.github/workflows/prerelease-check.yml

@@ -4,31 +4,27 @@ on:
   workflow_dispatch:
     inputs:
       ros_distro:
-        description: 'Chose ROS distribution'
+        description: "Chose ROS distribution"
         required: true
-        default: 'rolling'
+        default: "rolling"
         type: choice
         options:
-        - foxy
-        - galactic
-        - humble
-        - iron
-        - rolling
+          - humble
+          - iron
+          - rolling
       branch:
-        description: 'Chose branch for distro'
+        description: "Chose branch for distro"
         required: true
-        default: 'master'
+        default: "main"
         type: choice
         options:
-        - foxy
-        - galactic
-        - humble
-        - iron
-        - master
+          - humble
+          - iron
+          - master
 
 jobs:
   pre_release:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
         with:

.github/workflows/reusable-industrial-ci-with-cache.yml

@@ -6,51 +6,50 @@ on:
   workflow_call:
     inputs:
       ref_for_scheduled_build:
-        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
-        default: ''
+        description: "Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag."
+        default: ""
         required: false
         type: string
 
       upstream_workspace:
-        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
+        description: "UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file."
         required: true
         type: string
       ros_distro:
-        description: 'ROS_DISTRO variable for industrial_ci'
+        description: "ROS_DISTRO variable for industrial_ci"
         required: true
         type: string
       ros_repo:
         description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
-        default: 'main'
+        default: "main"
         required: false
         type: string
       os_code_name:
-        description: 'OS_CODE_NAME variable for industrial_ci'
-        default: ''
+        description: "OS_CODE_NAME variable for industrial_ci"
+        default: ""
         required: false
         type: string
       before_install_upstream_dependencies:
-        description: 'BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci'
-        default: ''
+        description: "BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci"
+        default: ""
         required: false
         type: string
 
       ccache_dir:
         description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.ccache'
+        default: ".ccache"
         required: false
         type: string
       basedir:
         description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.work'
+        default: ".work"
         required: false
         type: string
 
-
 jobs:
   reusable_industrial_ci_with_cache:
     name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     env:
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
@@ -80,7 +79,7 @@ jobs:
           restore-keys: |
             ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ccache-${{ env.CACHE_PREFIX }}
-      - uses: 'ros-industrial/industrial_ci@master'
+      - uses: "ros-industrial/industrial_ci@master"
         env:
           UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
           ROS_DISTRO: ${{ inputs.ros_distro }}

robotiq_controllers/include/robotiq_controllers/robotiq_activation_controller.hpp

@@ -40,19 +40,17 @@ class RobotiqActivationController : public controller_interface::ControllerInter
 
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-  controller_interface::return_type update(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;
 
-  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
 
-  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
 
   CallbackReturn on_init() override;
 
 private:
-  bool reactivateGripper(
-    std_srvs::srv::Trigger::Request::SharedPtr req,
-    std_srvs::srv::Trigger::Response::SharedPtr resp);
+  bool reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr req,
+                         std_srvs::srv::Trigger::Response::SharedPtr resp);
 
   static constexpr double ASYNC_WAITING = 2.0;
   enum CommandInterfaces